CN106395007A - Bag feeding manipulator - Google Patents
Bag feeding manipulator Download PDFInfo
- Publication number
- CN106395007A CN106395007A CN201611061394.7A CN201611061394A CN106395007A CN 106395007 A CN106395007 A CN 106395007A CN 201611061394 A CN201611061394 A CN 201611061394A CN 106395007 A CN106395007 A CN 106395007A
- Authority
- CN
- China
- Prior art keywords
- bag
- swinging axle
- gripping finger
- timing belt
- drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/30—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by grippers engaging opposed walls, e.g. suction-operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a bag feeding manipulator. The two ends of a supporting shaft are supported and installed in two first plummer blocks correspondingly. The supporting shaft is driven to rotate through a driving structure. A driving wheel is installed at the end of the supporting shaft. Two upper arms are parallel to each other. The upper ends of the two upper arms are connected to the two ends of the supporting shaft correspondingly. Second plummer blocks are installed at the lower ends of the two upper arms correspondingly. The two ends of a swing shaft are supported and installed in the two second plummer blocks correspondingly. A driven wheel is installed at the shaft-extension end of the swing shaft. The driving wheel drives the driven wheel and the swing shaft to rotate through a first synchronous belt. A bag clamping and spreading mechanism is installed on the swing shaft and used for clamping an opening of a bag and spreading the opening in a rectangle shape. A connecting beam is arranged between the supporting shaft and the swing shaft. The piston rod end of a push-and-pull air cylinder is connected with the connecting beam. A piston rod of the push-and-pull air cylinder stretches out and draws back to drive the upper arms and the swing shaft to swing back and forth around the supporting shaft. The bag feeding manipulator is simple in structure action and convenient to maintain and meets the industry needs.
Description
Technical field
The present invention relates to a kind of for the automatic bag feeding of realizing on the package packing machine in the industries such as chemical industry, feedstuff, food
Mechanical hand, belongs to fully-automatic packaging machinery technical field.
Background technology
At present, in the packaging process of the industries such as chemical industry, feedstuff, food, the packaging that also there are a large amount of artificial baggings sets
Standby, it is accomplished by very high production intensity for producers, production efficiency is also low simultaneously, and replaces at present manually studying out
Send out the upper bag mechanical hand using and there is complex structure, upper bag success rate is low, the problem of poor reliability.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, providing that a kind of structure action is simple, being easy to tie up
Protect, be applied to the upper bag mechanical hand of industry needs.
The technical scheme providing according to the present invention：Upper bag mechanical hand it is characterised in that：Including support shaft, push-and-pull cylinder,
One rolling bearing units, drivewheel, upper arm, the second rolling bearing units, swinging axle, driven pulley, the first Timing Belt, drive mechanism and folder bag support
Bag mechanism；Described support shaft two ends support respectively and are arranged in two the first rolling bearing units, are provided with actively supporting shaft end
Wheel；Two pieces upper arm is arranged in parallel, and the upper end of two pieces upper arm is separately fixed at support shaft two ends, and the lower end of two pieces upper arm is respectively
One the second rolling bearing units is installed, described swinging axle two ends support respectively and are arranged in two the second rolling bearing units, is swinging
The axle stretch end of axle is provided with driven pulley, and described drivewheel passes through the first Timing Belt and drives driven pulley and swinging axle rotation；Described folder
Bag bag opening mechanism is arranged on swinging axle, and folder bag bag opening mechanism is used for clamping the bag mouth of pocket and strutting rectangular, and folder bag supports
Bag mechanism can follow swinging axle synchronous rotary；It is provided with tie-beam between support shaft and swinging axle, described push-and-pull cylinder
Tailpiece of the piston rod is connected with tie-beam, and the piston rod of push-and-pull cylinder stretches and drives upper arm and swinging axle to swing back and forth around support shaft.
As a further improvement on the present invention, described drive mechanism includes reducing motor, driving wheel, the second Timing Belt and biography
Driving wheel, described reducing motor is arranged on electric machine support, and driving wheel installed by the outfan of reducing motor, and described drive is arranged on
In described support shaft, between drive and described driving wheel, transmission is connected by the second Timing Belt.
As a further improvement on the present invention, all using toothed belt wheel, described second is same for described driving wheel and drive
Step band adopts odontoid belt.
As a further improvement on the present invention, described drivewheel and driven pulley are also all to adopt toothed belt wheel, described
One Timing Belt adopts odontoid belt.
As a further improvement on the present invention, described first Timing Belt is furnished with makes it keep the tensioning wheel of tensioning state, institute
State tensioning wheel to be arranged on tensioning support, described tensioning support is fixedly mounted on the upper arm of next-door neighbour's the first Timing Belt.
As a further improvement on the present invention, described folder bag bag opening mechanism includes two sets of parallel folder bag mouth groups being arranged side by side
Part, two sets of folder bag mouth assemblies use cooperatively, and the bag mouth of pocket is clamped and struts rectangular；Before often set folder bag mouth assembly all includes
Arm, clamping cylinder, fixing gripping finger and activity gripping finger；Described forearm is fixed on described swinging axle, is installed with forearm
One in front and one in back two fixing gripping finger, are provided with two one in front and one in back activity gripping finger, described activity gripping finger between two fixing gripping finger
It is assemblied in forearm and can move forward and backward, forearm is provided with two contrary clamping cylinders of piston rod telescopic direction, two
Activity gripping finger is connected with the piston rod of two clamping cylinders respectively, two activity gripping finger close with adjacent fixation clamp assignment respectively with
Clamping bag mouth；Clamping cylinder in two sets of folder bag mouth assemblies, via a solenoid valve control, can be realized clamping simultaneously and unclamp dynamic
Make.
As a further improvement on the present invention, described forearm rear end is provided with union joint, and described union joint is fitted with connection
Block, described union joint and contiguous block are bolted and fastening hoop is embraced on described swinging axle.
As a further improvement on the present invention, described swinging axle is set to square shaft, the union joint of described forearm rear end with
The groove that contiguous block is constituted is square groove.
The present invention compared with prior art, has the advantage that：Present configuration action is simple, be easy to safeguard, be applied to
Industry needs, and can substantially reduce fully-automatic packaging machinery equipment cost.
Brief description
Fig. 1 is the overall structure front view of the embodiment of the present invention.
Fig. 2 is the A-A of in figure to sectional view.
Fig. 3 is the overall structure axonometric drawing of the embodiment of the present invention.
Fig. 4 is the overall structure side view of the embodiment of the present invention（Wait position）.
Fig. 5 is the overall structure side view of the embodiment of the present invention（Bag taking position）.
Fig. 6 is the overall structure side view of the embodiment of the present invention（Bagging position）.
Fig. 7 is the overall structure side view of the embodiment of the present invention（De- bag position）.
Description of reference numerals：1- support shaft, 2- push-and-pull cylinder, 3- first rolling bearing units, 4- upper arm, 5- tie-beam, 6- pendulum
Moving axis, 7- second rolling bearing units, 8- forearm, 9- clamping cylinder, 10- fix gripping finger, 11- activity gripping finger, 12- union joint, 13- even
Meet block, 14- driven pulley, 15- first Timing Belt, 16- tensioning wheel, 17- tensioning support, 18- drivewheel, 19- electric machine support, 20-
Reducing motor, 21- driving wheel, 22- second Timing Belt, 23- drive.
Specific embodiment
With reference to concrete drawings and Examples, the invention will be further described.
As shown in the figure：Upper bag mechanical hand in embodiment mainly by support shaft 1, the first rolling bearing units 3, drivewheel 18, on
Arm 4, the second rolling bearing units 7, swinging axle 6, driven pulley 14, the first Timing Belt 15, push-and-pull cylinder 2, drive mechanism and folder bag support bag
Mechanism forms；Described support shaft 1 two ends support respectively and are arranged in two the first rolling bearing units 3, and two first rolling bearing units 3 are in peace
Dress is fixed on device framework when using, and support shaft 1 drives rotation by driving structure, is provided with actively in support shaft 1 end
Wheel 18；Two pieces upper arm 4 is arranged in parallel, and the upper end of two pieces upper arm 4 is connected to support shaft 1 two ends, under two pieces upper arm 4
End is separately installed with second rolling bearing units 7, and described swinging axle 6 two ends support respectively and are arranged on two the second rolling bearing units 7
Interior, in the axle stretch end of swinging axle 6, driven pulley 14 is provided with by key, described drivewheel 18 drives driven by the first Timing Belt 15
Wheel 14 and swinging axle 6 rotate；Described folder bag bag opening mechanism is arranged on swinging axle 6, and folder bag bag opening mechanism is used for the bag of pocket
Mouth is clamped and is strutted rectangular, and folder bag bag opening mechanism can follow swinging axle 6 synchronous rotary；Described tie-beam 5 is arranged on support
Between axle 1 and swinging axle 6, the tailpiece of the piston rod of described push-and-pull cylinder 2 is connected with tie-beam 5, the piston rod telescopic band of push-and-pull cylinder 2
Dynamic upper arm 4 and swinging axle 6 swing back and forth around support shaft 1.
In the present embodiment, as shown in Fig. 1 ~ Fig. 3, it is mainly by reducing motor 20, driving wheel for the structure of described drive mechanism
21st, the second Timing Belt 22 and drive 23 form, and described reducing motor 20 is arranged on electric machine support 19, and electric machine support 19 is used for
It is arranged on equipment rack, driving wheel 21 installed by the outfan of reducing motor 20, and described drive 23 is arranged on described support shaft 1
On, between drive 23 and described driving wheel 21, transmission is connected by the second Timing Belt 22.Described driving wheel 21 and drive 23
All preferably employ toothed belt wheel, described second Timing Belt 22 adopts odontoid belt.
As shown in Fig. 1 ~ Fig. 3, in the present embodiment, described drivewheel 18 and driven pulley 14 are also all to preferably employ odontoid belt
Wheel, described first Timing Belt 15 adopts odontoid belt.In addition, described first Timing Belt 15 is also equipped with making it keep tensioning state
Tensioning wheel 16, described tensioning wheel 16 is arranged on tensioning support 17, and it is synchronous that described tensioning support 17 is fixedly mounted on next-door neighbour first
On upper arm 4 with 15.
In the present embodiment, the structure of described folder bag bag opening mechanism as shown in Fig. 1 ~ Fig. 7, its mainly include two sets parallel side by side
The folder bag mouth assembly of setting, two sets of folder bag mouth assemblies use cooperatively, and the bag mouth of pocket is clamped and struts rectangular；Often cover folder bag
Mouth assembly is all made up of forearm 8, clamping cylinder 9, fixing gripping finger 10 and activity gripping finger 11；Described forearm 8 is fixed on described pendulum
On moving axis 6, one in front and one in back two fixing gripping finger 10 are installed with forearm 8, between two fixing gripping finger 10, are provided with two
Individual one in front and one in back activity gripping finger 11, described activity gripping finger 11 is assemblied in forearm 8 and can move forward and backward, and forearm 8 is provided with
The contrary clamping cylinder 9 of two piston rod telescopic direction, two activity gripping finger 11 are connected with the piston rod of two clamping cylinders 9 respectively
Connect, two activity gripping finger 11 are coordinated with adjacent fixing gripping finger 10 to clamp bag mouth respectively；Clamping in two sets of folder bag mouth assemblies
Cylinder 9, via a solenoid valve control, can be realized clamping simultaneously and unclamp action.
As shown in Fig. 1 ~ Fig. 3, in the present embodiment, described forearm 8 rear end is provided with union joint 12, equipped on described union joint 12
There is contiguous block 13, described union joint 12 is bolted with contiguous block 13 and fastening hoop is embraced on described swinging axle 6,
As shown in Fig. 1 ~ Fig. 3, in the present embodiment, described swinging axle 6 is preferably arranged to square shaft, the connection of described forearm 8 rear end
12 grooves constituting with contiguous block 13 are square groove, and such structure can facilitate the developed width according to pocket to adjust between two forearms 8
Distance.
The action step of the present invention is specific as follows：
As shown in figure 4, upper bag mechanical hand is in wait position, after empty wallet opening completes, in folder bag bag opening mechanism two
Forearm 8 is driven by reducing motor 20 and rotates to vertical position；Originally it is located at two activity gripping finger 11 in the middle of two fixing gripping finger 10
Can stretch in the pocket that opening has completed, then two activity gripping finger 11 are driven by two clamping cylinders 9, move in opposite direction respectively
Dynamic, clamp pocket both sides with adjacent fixing gripping finger 10 cooperation【As shown in Figure 5】；After clamping pocket, forearm 8 is in reducing motor
Horizontal position is rotated to, push-and-pull cylinder 2 completes extending action simultaneously, mechanical hand reaches bagging position, now completes bagging under 20 drivings
Action【As shown in Figure 6】, subsequently pocket is clamped by bag and completes charging process；After pocket clamped by bag, two activity gripping finger
11 come back to initial centre position, and forearm 8 continues up after rotating to an angle under reducing motor 20 driving, push-and-pull gas
Cylinder 2 completes indentation action, now goes up bag mechanical hand and is in de- bag position【Shown in Fig. 7】；Then forearm 8 is under reducing motor 20 driving
Along reversely rotate return to the wait position shown in Fig. 4, now an action cycle complete.
Claims (8)
1. go up bag mechanical hand it is characterised in that：Including support shaft（1）, push-and-pull cylinder（2）, the first rolling bearing units（3）, drivewheel
（18）, upper arm（4）, the second rolling bearing units（7）, swinging axle（6）, driven pulley（14）, the first Timing Belt（15）, drive mechanism and folder
Bag bag opening mechanism；Described support shaft（1）Two ends support respectively and are arranged on two the first rolling bearing units（3）Interior, in support shaft（1）End
Portion is provided with drivewheel（18）；Two pieces upper arm（4）Arranged in parallel, two pieces upper arm（4）Upper end be separately fixed at support shaft
（1）Two ends, two pieces upper arm（4）Lower end be separately installed with second rolling bearing units（7）, described swinging axle（6）Two ends are respectively
Supporting is arranged on two the second rolling bearing units（7）Interior, in swinging axle（6）Axle stretch end driven pulley is installed（14）, described active
Wheel（18）By the first Timing Belt（15）Drive driven pulley（14）And swinging axle（6）Rotation；Described folder bag bag opening mechanism is arranged on
Swinging axle（6）On, folder bag bag opening mechanism is used for clamping the bag mouth of pocket and strutting rectangular, and folder bag bag opening mechanism can be followed
Swinging axle（6）Synchronous rotary；In support shaft（1）And swinging axle（6）Between be provided with tie-beam（5）, described push-and-pull cylinder（2）'s
Tailpiece of the piston rod and tie-beam（5）Connect, push-and-pull cylinder（2）Piston rod stretch drive upper arm（4）And swinging axle（6）Around support shaft
（1）Swing back and forth.
2. go up bag mechanical hand as claimed in claim 1 it is characterised in that：Described drive mechanism includes reducing motor（20）, drive
Driving wheel（21）, the second Timing Belt（22）And drive（23）, described reducing motor（20）It is arranged on electric machine support（19）On, slow down
Motor（20）Outfan install driving wheel（21）, described drive（23）It is arranged on described support shaft（1）On, drive（23）
With described driving wheel（21）Between pass through the second Timing Belt（22）Connect transmission.
3. go up bag mechanical hand as claimed in claim 2 it is characterised in that：Described driving wheel（21）And drive（23）All adopt
Toothed belt wheel, described second Timing Belt（22）Using odontoid belt.
4. go up bag mechanical hand as claimed in claim 1 it is characterised in that：Described drivewheel（18）And driven pulley（14）Also it is all
Using toothed belt wheel, described first Timing Belt（15）Using odontoid belt.
5. go up bag mechanical hand as claimed in claim 1 it is characterised in that：Described first Timing Belt（15）It is furnished with and make it keep opening
The tensioning wheel of tight state（16）, described tensioning wheel（16）It is arranged on tensioning support（17）On, described tensioning support（17）Fixing peace
It is contained in next-door neighbour's the first Timing Belt（15）Upper arm（4）On.
6. go up bag mechanical hand as claimed in claim 1 it is characterised in that：Described folder bag bag opening mechanism include two sets parallel side by side
The folder bag mouth assembly of setting, two sets of folder bag mouth assemblies use cooperatively, and the bag mouth of pocket is clamped and struts rectangular；Often cover folder bag
Mouth assembly all includes forearm（8）, clamping cylinder（9）, fixing gripping finger（10）With activity gripping finger（11）；Described forearm（8）It is fixed on
Described swinging axle（6）On, in forearm（8）On be installed with one in front and one in back two fixing gripping finger（10）, in two fixing gripping finger
（10）Between be provided with two one in front and one in back activity gripping finger（11）, described activity gripping finger（11）It is assemblied in forearm（8）Interior and can before
After move, forearm（8）On two contrary clamping cylinders of piston rod telescopic direction are installed（9）, two activity gripping finger（11）Point
Not with two clamping cylinders（9）Piston rod connect, two activity gripping finger（11）Respectively with adjacent fixing gripping finger（10）Cooperation
To clamp bag mouth；Clamping cylinder in two sets of folder bag mouth assemblies（9）Via a solenoid valve control, clamping and pine can be realized simultaneously
Start work.
7. go up bag mechanical hand as claimed in claim 6 it is characterised in that：Described forearm（8）Rear end is provided with union joint（12）, institute
State union joint（12）On be fitted with contiguous block（13）, described union joint（12）With contiguous block（13）It is bolted and fastening hoop
Embrace in described swinging axle（6）On.
8. go up bag mechanical hand as claimed in claim 7 it is characterised in that：Described swinging axle（6）Be set to square shaft, described before
Arm（8）The union joint of rear end（12）With contiguous block（13）The groove constituting is square groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061394.7A CN106395007B (en) | 2016-11-26 | 2016-11-26 | Bag putting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061394.7A CN106395007B (en) | 2016-11-26 | 2016-11-26 | Bag putting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106395007A true CN106395007A (en) | 2017-02-15 |
| CN106395007B CN106395007B (en) | 2019-02-01 |
Family
ID=58082188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061394.7A Active CN106395007B (en) | 2016-11-26 | 2016-11-26 | Bag putting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106395007B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216755A (en) * | 2018-03-09 | 2018-06-29 | 李军 | A kind of Openmouthed bag mechanical hand packing machine |
| CN109775036A (en) * | 2019-03-15 | 2019-05-21 | 浙江嘉柯德智能科技有限公司 | A kind of double holding arms bagging structures on packing machine |
| CN111942656A (en) * | 2020-08-19 | 2020-11-17 | 江苏琴瑟家纺股份有限公司 | Automatic cotton quilt filling gauze bag machine |
| CN112918789A (en) * | 2021-02-26 | 2021-06-08 | 无锡市开维物流装备有限责任公司 | High-speed bag feeding and clamping system for ultrafine powder |
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| US20120144779A1 (en) * | 2010-12-08 | 2012-06-14 | Sealed Air (New Zealand) | Apparatus and Method for Shaping and Holding a Bag in an Open Condition |
| CN202320877U (en) * | 2011-11-23 | 2012-07-11 | 哈尔滨博实自动化股份有限公司 | Bagging device suitable for hexagonal bag clamping mechanism |
| CN202624707U (en) * | 2012-05-17 | 2012-12-26 | 牧羊有限公司 | Bag-opening steering mechanism with automatic bagging |
| CN104943909A (en) * | 2015-06-26 | 2015-09-30 | 无锡市开维物流装备有限责任公司 | Bag feeding mechanism |
| CN105691734A (en) * | 2016-04-12 | 2016-06-22 | 常州创盛智能装备股份有限公司 | Automatic bagging suction cup mechanism for robot |
| CN106144042A (en) * | 2016-08-30 | 2016-11-23 | 无锡大东机械制造有限公司 | Upper bag machine support pocket type chooses bagging apparatus |
| CN206394974U (en) * | 2016-11-26 | 2017-08-11 | 无锡力马化工机械有限公司 | Upper bag manipulator |
-
2016
- 2016-11-26 CN CN201611061394.7A patent/CN106395007B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120144779A1 (en) * | 2010-12-08 | 2012-06-14 | Sealed Air (New Zealand) | Apparatus and Method for Shaping and Holding a Bag in an Open Condition |
| CN202320877U (en) * | 2011-11-23 | 2012-07-11 | 哈尔滨博实自动化股份有限公司 | Bagging device suitable for hexagonal bag clamping mechanism |
| CN202624707U (en) * | 2012-05-17 | 2012-12-26 | 牧羊有限公司 | Bag-opening steering mechanism with automatic bagging |
| CN104943909A (en) * | 2015-06-26 | 2015-09-30 | 无锡市开维物流装备有限责任公司 | Bag feeding mechanism |
| CN105691734A (en) * | 2016-04-12 | 2016-06-22 | 常州创盛智能装备股份有限公司 | Automatic bagging suction cup mechanism for robot |
| CN106144042A (en) * | 2016-08-30 | 2016-11-23 | 无锡大东机械制造有限公司 | Upper bag machine support pocket type chooses bagging apparatus |
| CN206394974U (en) * | 2016-11-26 | 2017-08-11 | 无锡力马化工机械有限公司 | Upper bag manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216755A (en) * | 2018-03-09 | 2018-06-29 | 李军 | A kind of Openmouthed bag mechanical hand packing machine |
| CN109775036A (en) * | 2019-03-15 | 2019-05-21 | 浙江嘉柯德智能科技有限公司 | A kind of double holding arms bagging structures on packing machine |
| CN111942656A (en) * | 2020-08-19 | 2020-11-17 | 江苏琴瑟家纺股份有限公司 | Automatic cotton quilt filling gauze bag machine |
| CN111942656B (en) * | 2020-08-19 | 2021-09-07 | 江苏琴瑟家纺股份有限公司 | Automatic cotton quilt filling gauze bag machine |
| CN112918789A (en) * | 2021-02-26 | 2021-06-08 | 无锡市开维物流装备有限责任公司 | High-speed bag feeding and clamping system for ultrafine powder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106395007B (en) | 2019-02-01 |
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